Overtaking on CARLA Town04 (unseen routes)
617Success RateSparse + D (Ours)
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Sparse + D (Ours)Description=sparse reward + world-model distillation2025.12 | 617 | 1,103 | 19.63 | 27.31 | 304.65 | 0.498 | |
| S + HERDescription=sparse reward + Hindsight Experience Replay2025.12 | 34 | 17 | 44.61 | 20.51 | 517.44 | 0.657 | |
| DenseDescription=dense-reward world-model RL2025.12 | 23 | 68 | 8.25 | 28.49 | 387.84 | 0.63 | |
| SparseDescription=sparse reward only2025.12 | 0 | 0 | 11.83 | 25.67 | 191.55 | 0.407 | |
| S + D + HERDescription=sparse reward + world-model distillation + Hindsight Experience Replay2025.12 | 0 | 37 | 34.76 | 40.14 | 277.23 | 0.558 |